#pragma once
#include "motion/rtcmds.h"
#include "zuc/nml_intf/zucpos.h"

#define AXIS_SETTING_CMD_CLASS_NAME(x) CMD_CLASS_NAME(x) "[DYN CMD]"

class CmdStep : public mot::MultiRobCmd
{
public:
    CmdStep(int grp_id)
    {
        group_id_ = grp_id;
        cmd_name_ = AXIS_SETTING_CMD_CLASS_NAME(CmdStep);
    };
    ~CmdStep() {}

    virtual int active_callback() { return 0; };
    virtual int process();
    virtual int check_para() { return 0; };
};

class CmdFeedScale : public mot::MultiRobCmd
{
public:
    CmdFeedScale(int grp_id, double scale)
    {
        group_id_ = grp_id;
        cmd_name_ = AXIS_SETTING_CMD_CLASS_NAME(CmdFeedScale);
        scale_ = scale;
    };
    ~CmdFeedScale() {}

    virtual int active_callback() { return 0; };
    virtual int process();
    virtual int check_para() { return 0; };

    double scale_;
};
